#include "rtw_capi.h"
#ifdef HOST_CAPI_BUILD
#include "openManipulatorTrajectoryPlanning_capi_host.h"
#define sizeof(s) ((size_t)(0xFFFF))
#undef rt_offsetof
#define rt_offsetof(s,el) ((uint16_T)(0xFFFF))
#define TARGET_CONST
#define TARGET_STRING(s) (s)
#ifndef SS_UINT64
#define SS_UINT64 23
#endif
#ifndef SS_INT64
#define SS_INT64 24
#endif
#else
#include "builtin_typeid_types.h"
#include "openManipulatorTrajectoryPlanning.h"
#include "openManipulatorTrajectoryPlanning_capi.h"
#include "openManipulatorTrajectoryPlanning_private.h"
#ifdef LIGHT_WEIGHT_CAPI
#define TARGET_CONST
#define TARGET_STRING(s)               ((NULL))
#else
#define TARGET_CONST                   const
#define TARGET_STRING(s)               (s)
#endif
#endif
static const rtwCAPI_Signals rtBlockSignals [ ] = { { 0 , 0 , TARGET_STRING (
"openManipulatorTrajectoryPlanning/Rate Transition" ) , TARGET_STRING ( "" )
, 0 , 0 , 0 , 0 , 0 } , { 1 , 0 , TARGET_STRING (
"openManipulatorTrajectoryPlanning/Rate Transition4" ) , TARGET_STRING (
"jointPos" ) , 0 , 0 , 0 , 0 , 1 } , { 2 , 0 , TARGET_STRING (
"openManipulatorTrajectoryPlanning/Rate Transition5" ) , TARGET_STRING (
"commands" ) , 0 , 0 , 1 , 0 , 1 } , { 3 , 0 , TARGET_STRING (
"openManipulatorTrajectoryPlanning/Rate Transition6" ) , TARGET_STRING (
"jointPos" ) , 0 , 0 , 0 , 0 , 0 } , { 4 , 1 , TARGET_STRING (
 "openManipulatorTrajectoryPlanning/Forward Kinematics/Coordinate Transformation Conversion"
) , TARGET_STRING ( "" ) , 0 , 0 , 2 , 0 , 0 } , { 5 , 0 , TARGET_STRING (
 "openManipulatorTrajectoryPlanning/Inverse Kinematics/SigConversion_InsertedFor_Bus Selector_at_outport_0"
) , TARGET_STRING ( "Iterations" ) , 0 , 0 , 3 , 0 , 2 } , { 6 , 0 ,
TARGET_STRING (
"openManipulatorTrajectoryPlanning/Inverse Kinematics/Transpose" ) ,
TARGET_STRING ( "" ) , 0 , 0 , 4 , 0 , 0 } , { 7 , 4 , TARGET_STRING (
 "openManipulatorTrajectoryPlanning/Inverse Kinematics/Inverse Kinematics/MATLAB System"
) , TARGET_STRING ( "" ) , 0 , 0 , 5 , 0 , 2 } , { 8 , 0 , TARGET_STRING (
 "openManipulatorTrajectoryPlanning/Joint Controller (Configuration Space)/Discrete Derivative/TSamp"
) , TARGET_STRING ( "" ) , 0 , 0 , 0 , 0 , 1 } , { 9 , 0 , TARGET_STRING (
 "openManipulatorTrajectoryPlanning/Joint Controller (Configuration Space)/Discrete Derivative1/TSamp"
) , TARGET_STRING ( "" ) , 0 , 0 , 0 , 0 , 1 } , { 10 , 5 , TARGET_STRING (
 "openManipulatorTrajectoryPlanning/Joint Controller (Configuration Space)/Inverse Dynamics  (Feedforward Control)/MATLAB System"
) , TARGET_STRING ( "" ) , 0 , 0 , 5 , 0 , 1 } , { 11 , 0 , TARGET_STRING (
 "openManipulatorTrajectoryPlanning/Joint Controller (Configuration Space)/Saturate Inputs/Saturate  Gripper Force"
) , TARGET_STRING ( "" ) , 0 , 0 , 6 , 0 , 1 } , { 12 , 0 , TARGET_STRING (
 "openManipulatorTrajectoryPlanning/Joint Controller (Configuration Space)/Saturate Inputs/Saturate  Joint Torques"
) , TARGET_STRING ( "" ) , 0 , 0 , 7 , 0 , 1 } , { 13 , 0 , TARGET_STRING (
"openManipulatorTrajectoryPlanning/Solver Configuration/EVAL_KEY/INPUT_1_1_1"
) , TARGET_STRING ( "" ) , 0 , 0 , 7 , 0 , 2 } , { 14 , 0 , TARGET_STRING (
"openManipulatorTrajectoryPlanning/Solver Configuration/EVAL_KEY/INPUT_2_1_1"
) , TARGET_STRING ( "" ) , 0 , 0 , 7 , 0 , 2 } , { 15 , 0 , TARGET_STRING (
"openManipulatorTrajectoryPlanning/Solver Configuration/EVAL_KEY/INPUT_3_1_1"
) , TARGET_STRING ( "" ) , 0 , 0 , 7 , 0 , 2 } , { 16 , 0 , TARGET_STRING (
"openManipulatorTrajectoryPlanning/Solver Configuration/EVAL_KEY/INPUT_4_1_1"
) , TARGET_STRING ( "" ) , 0 , 0 , 7 , 0 , 2 } , { 17 , 0 , TARGET_STRING (
"openManipulatorTrajectoryPlanning/Solver Configuration/EVAL_KEY/INPUT_5_1_1"
) , TARGET_STRING ( "" ) , 0 , 0 , 7 , 0 , 2 } , { 18 , 0 , TARGET_STRING (
"openManipulatorTrajectoryPlanning/Solver Configuration/EVAL_KEY/INPUT_6_1_1"
) , TARGET_STRING ( "" ) , 0 , 0 , 7 , 0 , 2 } , { 19 , 0 , TARGET_STRING (
"openManipulatorTrajectoryPlanning/Solver Configuration/EVAL_KEY/INTERNAL_1_1_1"
) , TARGET_STRING ( "" ) , 0 , 0 , 7 , 0 , 2 } , { 20 , 0 , TARGET_STRING (
"openManipulatorTrajectoryPlanning/Solver Configuration/EVAL_KEY/INTERNAL_2_1_1"
) , TARGET_STRING ( "" ) , 0 , 0 , 7 , 0 , 2 } , { 21 , 0 , TARGET_STRING (
"openManipulatorTrajectoryPlanning/Solver Configuration/EVAL_KEY/INTERNAL_3_1_1"
) , TARGET_STRING ( "" ) , 0 , 0 , 7 , 0 , 2 } , { 22 , 0 , TARGET_STRING (
"openManipulatorTrajectoryPlanning/Solver Configuration/EVAL_KEY/INTERNAL_4_1_1"
) , TARGET_STRING ( "" ) , 0 , 0 , 7 , 0 , 2 } , { 23 , 0 , TARGET_STRING (
"openManipulatorTrajectoryPlanning/Solver Configuration/EVAL_KEY/INTERNAL_5_1_1"
) , TARGET_STRING ( "" ) , 0 , 0 , 7 , 0 , 2 } , { 24 , 0 , TARGET_STRING (
"openManipulatorTrajectoryPlanning/Solver Configuration/EVAL_KEY/INTERNAL_6_1_1"
) , TARGET_STRING ( "" ) , 0 , 0 , 7 , 0 , 2 } , { 25 , 0 , TARGET_STRING (
"openManipulatorTrajectoryPlanning/Solver Configuration/EVAL_KEY/OUTPUT_1_0"
) , TARGET_STRING ( "" ) , 0 , 0 , 8 , 0 , 2 } , { 26 , 0 , TARGET_STRING (
"openManipulatorTrajectoryPlanning/Solver Configuration/EVAL_KEY/OUTPUT_2_0"
) , TARGET_STRING ( "" ) , 0 , 0 , 6 , 0 , 2 } , { 27 , 0 , TARGET_STRING (
"openManipulatorTrajectoryPlanning/Solver Configuration/EVAL_KEY/OUTPUT_3_0"
) , TARGET_STRING ( "" ) , 0 , 0 , 6 , 0 , 2 } , { 28 , 0 , TARGET_STRING (
"openManipulatorTrajectoryPlanning/Solver Configuration/EVAL_KEY/STATE_1" ) ,
TARGET_STRING ( "" ) , 0 , 0 , 9 , 0 , 2 } , { 29 , 0 , TARGET_STRING (
"openManipulatorTrajectoryPlanning/Solver Configuration/EVAL_KEY/STATE_2" ) ,
TARGET_STRING ( "" ) , 0 , 0 , 6 , 0 , 2 } , { 30 , 0 , TARGET_STRING (
"openManipulatorTrajectoryPlanning/Solver Configuration/EVAL_KEY/STATE_3" ) ,
TARGET_STRING ( "" ) , 0 , 0 , 6 , 0 , 2 } , { 31 , 0 , TARGET_STRING (
 "openManipulatorTrajectoryPlanning/Joint Controller (Configuration Space)/PID Compensator  (Feedback Control)/Discrete PID Controller/N Gain/Internal Parameters/Filter Coefficient"
) , TARGET_STRING ( "" ) , 0 , 0 , 3 , 0 , 1 } , { 32 , 0 , TARGET_STRING (
 "openManipulatorTrajectoryPlanning/Joint Controller (Configuration Space)/PID Compensator  (Feedback Control)/Discrete PID Controller1/N Gain/Internal Parameters/Filter Coefficient"
) , TARGET_STRING ( "" ) , 0 , 0 , 3 , 0 , 1 } , { 33 , 0 , TARGET_STRING (
 "openManipulatorTrajectoryPlanning/Joint Controller (Configuration Space)/PID Compensator  (Feedback Control)/Discrete PID Controller2/N Gain/Internal Parameters/Filter Coefficient"
) , TARGET_STRING ( "" ) , 0 , 0 , 3 , 0 , 1 } , { 34 , 0 , TARGET_STRING (
 "openManipulatorTrajectoryPlanning/Joint Controller (Configuration Space)/PID Compensator  (Feedback Control)/Discrete PID Controller3/N Gain/Internal Parameters/Filter Coefficient"
) , TARGET_STRING ( "" ) , 0 , 0 , 3 , 0 , 1 } , { 35 , 0 , TARGET_STRING (
 "openManipulatorTrajectoryPlanning/Joint Controller (Configuration Space)/PID Compensator  (Feedback Control)/Discrete PID Controller4/Anti-windup/Disc. Clamping Parallel/Switch"
) , TARGET_STRING ( "" ) , 0 , 0 , 3 , 0 , 1 } , { 36 , 0 , TARGET_STRING (
 "openManipulatorTrajectoryPlanning/Joint Controller (Configuration Space)/PID Compensator  (Feedback Control)/Discrete PID Controller5/Anti-windup/Disc. Clamping Parallel/Switch"
) , TARGET_STRING ( "" ) , 0 , 0 , 3 , 0 , 1 } , { 0 , 0 , ( NULL ) , ( NULL
) , 0 , 0 , 0 , 0 , 0 } } ; static const rtwCAPI_BlockParameters
rtBlockParameters [ ] = { { 37 , TARGET_STRING (
"openManipulatorTrajectoryPlanning/Constant3" ) , TARGET_STRING ( "Value" ) ,
0 , 3 , 0 } , { 38 , TARGET_STRING (
"openManipulatorTrajectoryPlanning/linear line" ) , TARGET_STRING ( "Value" )
, 0 , 3 , 0 } , { 39 , TARGET_STRING (
"openManipulatorTrajectoryPlanning/Rate Transition" ) , TARGET_STRING (
"InitialCondition" ) , 0 , 3 , 0 } , { 40 , TARGET_STRING (
"openManipulatorTrajectoryPlanning/Rate Transition6" ) , TARGET_STRING (
"InitialCondition" ) , 0 , 3 , 0 } , { 41 , TARGET_STRING (
"openManipulatorTrajectoryPlanning/Inverse Kinematics/IK Weights" ) ,
TARGET_STRING ( "Value" ) , 0 , 10 , 0 } , { 42 , TARGET_STRING (
 "openManipulatorTrajectoryPlanning/Joint Controller (Configuration Space)/Discrete Derivative"
) , TARGET_STRING ( "ICPrevScaledInput" ) , 0 , 3 , 0 } , { 43 ,
TARGET_STRING (
 "openManipulatorTrajectoryPlanning/Joint Controller (Configuration Space)/Discrete Derivative1"
) , TARGET_STRING ( "ICPrevScaledInput" ) , 0 , 3 , 0 } , { 44 ,
TARGET_STRING (
 "openManipulatorTrajectoryPlanning/Joint Controller (Configuration Space)/Closed Gripper Position"
) , TARGET_STRING ( "Value" ) , 0 , 6 , 0 } , { 45 , TARGET_STRING (
 "openManipulatorTrajectoryPlanning/Joint Controller (Configuration Space)/External Force"
) , TARGET_STRING ( "Value" ) , 0 , 11 , 0 } , { 46 , TARGET_STRING (
 "openManipulatorTrajectoryPlanning/Joint Controller (Configuration Space)/Open Gripper Position"
) , TARGET_STRING ( "Value" ) , 0 , 12 , 0 } , { 47 , TARGET_STRING (
 "openManipulatorTrajectoryPlanning/Joint Controller (Configuration Space)/Input  Rate Limiter"
) , TARGET_STRING ( "RisingSlewLimit" ) , 0 , 3 , 0 } , { 48 , TARGET_STRING
(
 "openManipulatorTrajectoryPlanning/Joint Controller (Configuration Space)/Input  Rate Limiter"
) , TARGET_STRING ( "FallingSlewLimit" ) , 0 , 3 , 0 } , { 49 , TARGET_STRING
(
 "openManipulatorTrajectoryPlanning/Joint Controller (Configuration Space)/Input  Rate Limiter"
) , TARGET_STRING ( "InitialCondition" ) , 0 , 3 , 0 } , { 50 , TARGET_STRING
(
 "openManipulatorTrajectoryPlanning/Joint Controller (Configuration Space)/Switch1"
) , TARGET_STRING ( "Threshold" ) , 0 , 3 , 0 } , { 51 , TARGET_STRING (
 "openManipulatorTrajectoryPlanning/Joint Controller (Configuration Space)/Input Filter"
) , TARGET_STRING ( "Numerator" ) , 0 , 3 , 0 } , { 52 , TARGET_STRING (
 "openManipulatorTrajectoryPlanning/Joint Controller (Configuration Space)/Input Filter"
) , TARGET_STRING ( "Denominator" ) , 0 , 12 , 0 } , { 53 , TARGET_STRING (
 "openManipulatorTrajectoryPlanning/Joint Controller (Configuration Space)/Input Filter"
) , TARGET_STRING ( "InitialStates" ) , 0 , 3 , 0 } , { 54 , TARGET_STRING (
 "openManipulatorTrajectoryPlanning/Joint Controller (Configuration Space)/Output Filter"
) , TARGET_STRING ( "Numerator" ) , 0 , 3 , 0 } , { 55 , TARGET_STRING (
 "openManipulatorTrajectoryPlanning/Joint Controller (Configuration Space)/Output Filter"
) , TARGET_STRING ( "Denominator" ) , 0 , 12 , 0 } , { 56 , TARGET_STRING (
 "openManipulatorTrajectoryPlanning/Joint Controller (Configuration Space)/Output Filter"
) , TARGET_STRING ( "InitialStates" ) , 0 , 3 , 0 } , { 57 , TARGET_STRING (
"openManipulatorTrajectoryPlanning/Signal Builder/FromWs" ) , TARGET_STRING (
"Time0" ) , 0 , 6 , 0 } , { 58 , TARGET_STRING (
"openManipulatorTrajectoryPlanning/Signal Builder/FromWs" ) , TARGET_STRING (
"Data0" ) , 0 , 6 , 0 } , { 59 , TARGET_STRING (
 "openManipulatorTrajectoryPlanning/Joint Controller (Configuration Space)/Discrete Derivative/TSamp"
) , TARGET_STRING ( "WtEt" ) , 0 , 3 , 0 } , { 60 , TARGET_STRING (
 "openManipulatorTrajectoryPlanning/Joint Controller (Configuration Space)/Discrete Derivative1/TSamp"
) , TARGET_STRING ( "WtEt" ) , 0 , 3 , 0 } , { 61 , TARGET_STRING (
 "openManipulatorTrajectoryPlanning/Joint Controller (Configuration Space)/PID Compensator  (Feedback Control)/Discrete PID Controller"
) , TARGET_STRING ( "InitialConditionForFilter" ) , 0 , 3 , 0 } , { 62 ,
TARGET_STRING (
 "openManipulatorTrajectoryPlanning/Joint Controller (Configuration Space)/PID Compensator  (Feedback Control)/Discrete PID Controller1"
) , TARGET_STRING ( "InitialConditionForFilter" ) , 0 , 3 , 0 } , { 63 ,
TARGET_STRING (
 "openManipulatorTrajectoryPlanning/Joint Controller (Configuration Space)/PID Compensator  (Feedback Control)/Discrete PID Controller2"
) , TARGET_STRING ( "InitialConditionForFilter" ) , 0 , 3 , 0 } , { 64 ,
TARGET_STRING (
 "openManipulatorTrajectoryPlanning/Joint Controller (Configuration Space)/PID Compensator  (Feedback Control)/Discrete PID Controller3"
) , TARGET_STRING ( "InitialConditionForFilter" ) , 0 , 3 , 0 } , { 65 ,
TARGET_STRING (
 "openManipulatorTrajectoryPlanning/Joint Controller (Configuration Space)/PID Compensator  (Feedback Control)/Discrete PID Controller4"
) , TARGET_STRING ( "InitialConditionForIntegrator" ) , 0 , 3 , 0 } , { 66 ,
TARGET_STRING (
 "openManipulatorTrajectoryPlanning/Joint Controller (Configuration Space)/PID Compensator  (Feedback Control)/Discrete PID Controller5"
) , TARGET_STRING ( "InitialConditionForIntegrator" ) , 0 , 3 , 0 } , { 67 ,
TARGET_STRING (
 "openManipulatorTrajectoryPlanning/Joint Controller (Configuration Space)/PID Compensator  (Feedback Control)/Discrete PID Controller/Filter/Disc. Forward Euler Filter/Filter"
) , TARGET_STRING ( "gainval" ) , 0 , 3 , 0 } , { 68 , TARGET_STRING (
 "openManipulatorTrajectoryPlanning/Joint Controller (Configuration Space)/PID Compensator  (Feedback Control)/Discrete PID Controller1/Filter/Disc. Forward Euler Filter/Filter"
) , TARGET_STRING ( "gainval" ) , 0 , 3 , 0 } , { 69 , TARGET_STRING (
 "openManipulatorTrajectoryPlanning/Joint Controller (Configuration Space)/PID Compensator  (Feedback Control)/Discrete PID Controller2/Filter/Disc. Forward Euler Filter/Filter"
) , TARGET_STRING ( "gainval" ) , 0 , 3 , 0 } , { 70 , TARGET_STRING (
 "openManipulatorTrajectoryPlanning/Joint Controller (Configuration Space)/PID Compensator  (Feedback Control)/Discrete PID Controller3/Filter/Disc. Forward Euler Filter/Filter"
) , TARGET_STRING ( "gainval" ) , 0 , 3 , 0 } , { 71 , TARGET_STRING (
 "openManipulatorTrajectoryPlanning/Joint Controller (Configuration Space)/PID Compensator  (Feedback Control)/Discrete PID Controller4/Anti-windup/Disc. Clamping Parallel/Clamping_zero"
) , TARGET_STRING ( "Value" ) , 0 , 3 , 0 } , { 72 , TARGET_STRING (
 "openManipulatorTrajectoryPlanning/Joint Controller (Configuration Space)/PID Compensator  (Feedback Control)/Discrete PID Controller4/Anti-windup/Disc. Clamping Parallel/Constant"
) , TARGET_STRING ( "Value" ) , 1 , 3 , 0 } , { 73 , TARGET_STRING (
 "openManipulatorTrajectoryPlanning/Joint Controller (Configuration Space)/PID Compensator  (Feedback Control)/Discrete PID Controller4/Anti-windup/Disc. Clamping Parallel/Constant1"
) , TARGET_STRING ( "Value" ) , 0 , 3 , 0 } , { 74 , TARGET_STRING (
 "openManipulatorTrajectoryPlanning/Joint Controller (Configuration Space)/PID Compensator  (Feedback Control)/Discrete PID Controller4/Anti-windup/Disc. Clamping Parallel/Constant2"
) , TARGET_STRING ( "Value" ) , 1 , 3 , 0 } , { 75 , TARGET_STRING (
 "openManipulatorTrajectoryPlanning/Joint Controller (Configuration Space)/PID Compensator  (Feedback Control)/Discrete PID Controller4/Anti-windup/Disc. Clamping Parallel/Constant3"
) , TARGET_STRING ( "Value" ) , 1 , 3 , 0 } , { 76 , TARGET_STRING (
 "openManipulatorTrajectoryPlanning/Joint Controller (Configuration Space)/PID Compensator  (Feedback Control)/Discrete PID Controller4/Anti-windup/Disc. Clamping Parallel/Constant4"
) , TARGET_STRING ( "Value" ) , 1 , 3 , 0 } , { 77 , TARGET_STRING (
 "openManipulatorTrajectoryPlanning/Joint Controller (Configuration Space)/PID Compensator  (Feedback Control)/Discrete PID Controller4/Integrator/Discrete/Integrator"
) , TARGET_STRING ( "gainval" ) , 0 , 3 , 0 } , { 78 , TARGET_STRING (
 "openManipulatorTrajectoryPlanning/Joint Controller (Configuration Space)/PID Compensator  (Feedback Control)/Discrete PID Controller5/Anti-windup/Disc. Clamping Parallel/Clamping_zero"
) , TARGET_STRING ( "Value" ) , 0 , 3 , 0 } , { 79 , TARGET_STRING (
 "openManipulatorTrajectoryPlanning/Joint Controller (Configuration Space)/PID Compensator  (Feedback Control)/Discrete PID Controller5/Anti-windup/Disc. Clamping Parallel/Constant"
) , TARGET_STRING ( "Value" ) , 1 , 3 , 0 } , { 80 , TARGET_STRING (
 "openManipulatorTrajectoryPlanning/Joint Controller (Configuration Space)/PID Compensator  (Feedback Control)/Discrete PID Controller5/Anti-windup/Disc. Clamping Parallel/Constant1"
) , TARGET_STRING ( "Value" ) , 0 , 3 , 0 } , { 81 , TARGET_STRING (
 "openManipulatorTrajectoryPlanning/Joint Controller (Configuration Space)/PID Compensator  (Feedback Control)/Discrete PID Controller5/Anti-windup/Disc. Clamping Parallel/Constant2"
) , TARGET_STRING ( "Value" ) , 1 , 3 , 0 } , { 82 , TARGET_STRING (
 "openManipulatorTrajectoryPlanning/Joint Controller (Configuration Space)/PID Compensator  (Feedback Control)/Discrete PID Controller5/Anti-windup/Disc. Clamping Parallel/Constant3"
) , TARGET_STRING ( "Value" ) , 1 , 3 , 0 } , { 83 , TARGET_STRING (
 "openManipulatorTrajectoryPlanning/Joint Controller (Configuration Space)/PID Compensator  (Feedback Control)/Discrete PID Controller5/Anti-windup/Disc. Clamping Parallel/Constant4"
) , TARGET_STRING ( "Value" ) , 1 , 3 , 0 } , { 84 , TARGET_STRING (
 "openManipulatorTrajectoryPlanning/Joint Controller (Configuration Space)/PID Compensator  (Feedback Control)/Discrete PID Controller5/Integrator/Discrete/Integrator"
) , TARGET_STRING ( "gainval" ) , 0 , 3 , 0 } , { 0 , ( NULL ) , ( NULL ) , 0
, 0 , 0 } } ; static int_T rt_LoggedStateIdxList [ ] = { - 1 } ; static const
rtwCAPI_Signals rtRootInputs [ ] = { { 0 , 0 , ( NULL ) , ( NULL ) , 0 , 0 ,
0 , 0 , 0 } } ; static const rtwCAPI_Signals rtRootOutputs [ ] = { { 0 , 0 ,
( NULL ) , ( NULL ) , 0 , 0 , 0 , 0 , 0 } } ; static const
rtwCAPI_ModelParameters rtModelParameters [ ] = { { 85 , TARGET_STRING (
"Kd1" ) , 0 , 3 , 0 } , { 86 , TARGET_STRING ( "Kd2" ) , 0 , 3 , 0 } , { 87 ,
TARGET_STRING ( "Kd3" ) , 0 , 3 , 0 } , { 88 , TARGET_STRING ( "Kd4" ) , 0 ,
3 , 0 } , { 89 , TARGET_STRING ( "Kfilt1" ) , 0 , 3 , 0 } , { 90 ,
TARGET_STRING ( "Kfilt2" ) , 0 , 3 , 0 } , { 91 , TARGET_STRING ( "Kfilt3" )
, 0 , 3 , 0 } , { 92 , TARGET_STRING ( "Kfilt4" ) , 0 , 3 , 0 } , { 93 ,
TARGET_STRING ( "KiGrip" ) , 0 , 3 , 0 } , { 94 , TARGET_STRING ( "Kp1" ) , 0
, 3 , 0 } , { 95 , TARGET_STRING ( "Kp2" ) , 0 , 3 , 0 } , { 96 ,
TARGET_STRING ( "Kp3" ) , 0 , 3 , 0 } , { 97 , TARGET_STRING ( "Kp4" ) , 0 ,
3 , 0 } , { 98 , TARGET_STRING ( "KpGrip" ) , 0 , 3 , 0 } , { 99 ,
TARGET_STRING ( "ctrlLowerLimit" ) , 0 , 3 , 0 } , { 100 , TARGET_STRING (
"ctrlUpperLimit" ) , 0 , 3 , 0 } , { 101 , TARGET_STRING ( "gripLowerLimit" )
, 0 , 3 , 0 } , { 102 , TARGET_STRING ( "gripUpperLimit" ) , 0 , 3 , 0 } , {
0 , ( NULL ) , 0 , 0 , 0 } } ;
#ifndef HOST_CAPI_BUILD
static void * rtDataAddrMap [ ] = { & rtB . nd1rapbf2u [ 0 ] , & rtB .
hhdb535tvz [ 0 ] , & rtB . kj5qpxedtg [ 0 ] , & rtB . ojtckfkjyo [ 0 ] , &
rtB . fs4h3j1l31 [ 0 ] , & rtB . gyuiwjkgbx , & rtB . f1tyt5vcvt [ 0 ] , &
rtB . lo0hqyptao [ 0 ] , & rtB . nqkvctls4x [ 0 ] , & rtB . gn1fk0rbkj [ 0 ]
, & rtB . k3szni1qeu [ 0 ] , & rtB . p4begt1sri [ 0 ] , & rtB . psgggvhrky [
0 ] , & rtB . bpxoa5jqph [ 0 ] , & rtB . gtqltersrn [ 0 ] , & rtB .
kfmkqerxag [ 0 ] , & rtB . kqkimrfdm5 [ 0 ] , & rtB . b5i1gadrfg [ 0 ] , &
rtB . o4mrrxpgqr [ 0 ] , & rtB . j5luahqacu [ 0 ] , & rtB . ffuvz5uef3 [ 0 ]
, & rtB . grytuooxbk [ 0 ] , & rtB . d5kmywozm5 [ 0 ] , & rtB . ecaqpvxc3x [
0 ] , & rtB . n4hlwmps2s [ 0 ] , & rtB . ev24cemjyk [ 0 ] , & rtB .
f2ca0jlz0q [ 0 ] , & rtB . mh5qb3h0t1 [ 0 ] , & rtB . iuhvwu1nwu [ 0 ] , &
rtB . i2z2yf5oxo [ 0 ] , & rtB . ohhfpdrcbe [ 0 ] , & rtB . dmuwptdi5m , &
rtB . crue1g0m5e , & rtB . oolxi5a4g3 , & rtB . kl0afniunm , & rtB .
h05kbfk1ll , & rtB . aualjlkhue , & rtP . Constant3_Value , & rtP .
linearline_Value , & rtP . RateTransition_InitialCondition , & rtP .
RateTransition6_InitialCondition , & rtP . IKWeights_Value [ 0 ] , & rtP .
DiscreteDerivative_ICPrevScaledInput , & rtP .
DiscreteDerivative1_ICPrevScaledInput , & rtP . ClosedGripperPosition_Value [
0 ] , & rtP . ExternalForce_Value [ 0 ] , & rtP . OpenGripperPosition_Value [
0 ] , & rtP . InputRateLimiter_RisingLim , & rtP .
InputRateLimiter_FallingLim , & rtP . InputRateLimiter_IC , & rtP .
Switch1_Threshold , & rtP . InputFilter_NumCoef , & rtP . InputFilter_DenCoef
[ 0 ] , & rtP . InputFilter_InitialStates , & rtP . OutputFilter_NumCoef , &
rtP . OutputFilter_DenCoef [ 0 ] , & rtP . OutputFilter_InitialStates , & rtP
. FromWs_Time0 [ 0 ] , & rtP . FromWs_Data0 [ 0 ] , & rtP . TSamp_WtEt , &
rtP . TSamp_WtEt_d4bsp0r1mg , & rtP .
DiscretePIDController_InitialConditionForFilter , & rtP .
DiscretePIDController1_InitialConditionForFilter , & rtP .
DiscretePIDController2_InitialConditionForFilter , & rtP .
DiscretePIDController3_InitialConditionForFilter , & rtP .
DiscretePIDController4_InitialConditionForIntegrator , & rtP .
DiscretePIDController5_InitialConditionForIntegrator , & rtP . Filter_gainval
, & rtP . Filter_gainval_pywx3a4mfz , & rtP . Filter_gainval_bis3jwhwo3 , &
rtP . Filter_gainval_l4l4aecji2 , & rtP . Clamping_zero_Value , & rtP .
Constant_Value , & rtP . Constant1_Value , & rtP . Constant2_Value , & rtP .
Constant3_Value_cugk0roo4b , & rtP . Constant4_Value , & rtP .
Integrator_gainval , & rtP . Clamping_zero_Value_hoqagzqhh4 , & rtP .
Constant_Value_bpv2m0vvte , & rtP . Constant1_Value_assvjoqkhx , & rtP .
Constant2_Value_potg3ffb2h , & rtP . Constant3_Value_lqo22zxgur , & rtP .
Constant4_Value_m2oknxe15n , & rtP . Integrator_gainval_oyckhxze31 , & rtP .
Kd1 , & rtP . Kd2 , & rtP . Kd3 , & rtP . Kd4 , & rtP . Kfilt1 , & rtP .
Kfilt2 , & rtP . Kfilt3 , & rtP . Kfilt4 , & rtP . KiGrip , & rtP . Kp1 , &
rtP . Kp2 , & rtP . Kp3 , & rtP . Kp4 , & rtP . KpGrip , & rtP .
ctrlLowerLimit , & rtP . ctrlUpperLimit , & rtP . gripLowerLimit , & rtP .
gripUpperLimit , } ; static int32_T * rtVarDimsAddrMap [ ] = { ( NULL ) } ;
#endif
static TARGET_CONST rtwCAPI_DataTypeMap rtDataTypeMap [ ] = { { "double" ,
"real_T" , 0 , 0 , sizeof ( real_T ) , ( uint8_T ) SS_DOUBLE , 0 , 0 , 0 } ,
{ "signed char" , "int8_T" , 0 , 0 , sizeof ( int8_T ) , ( uint8_T ) SS_INT8
, 0 , 0 , 0 } } ;
#ifdef HOST_CAPI_BUILD
#undef sizeof
#endif
static TARGET_CONST rtwCAPI_ElementMap rtElementMap [ ] = { { ( NULL ) , 0 ,
0 , 0 , 0 } , } ; static const rtwCAPI_DimensionMap rtDimensionMap [ ] = { {
rtwCAPI_VECTOR , 0 , 2 , 0 } , { rtwCAPI_VECTOR , 2 , 2 , 0 } , {
rtwCAPI_MATRIX_COL_MAJOR , 4 , 2 , 0 } , { rtwCAPI_SCALAR , 6 , 2 , 0 } , {
rtwCAPI_MATRIX_COL_MAJOR , 8 , 2 , 0 } , { rtwCAPI_MATRIX_COL_MAJOR , 0 , 2 ,
0 } , { rtwCAPI_VECTOR , 10 , 2 , 0 } , { rtwCAPI_VECTOR , 12 , 2 , 0 } , {
rtwCAPI_VECTOR , 14 , 2 , 0 } , { rtwCAPI_VECTOR , 16 , 2 , 0 } , {
rtwCAPI_VECTOR , 8 , 2 , 0 } , { rtwCAPI_MATRIX_COL_MAJOR , 18 , 2 , 0 } , {
rtwCAPI_VECTOR , 20 , 2 , 0 } } ; static const uint_T rtDimensionArray [ ] =
{ 6 , 1 , 5 , 1 , 3 , 1 , 1 , 1 , 1 , 6 , 2 , 1 , 4 , 1 , 8 , 1 , 12 , 1 , 6
, 9 , 1 , 2 } ; static const real_T rtcapiStoredFloats [ ] = { 0.0 , 1.0 ,
0.005 } ; static const rtwCAPI_FixPtMap rtFixPtMap [ ] = { { ( NULL ) , (
NULL ) , rtwCAPI_FIX_RESERVED , 0 , 0 , ( boolean_T ) 0 } , } ; static const
rtwCAPI_SampleTimeMap rtSampleTimeMap [ ] = { { ( const void * ) &
rtcapiStoredFloats [ 0 ] , ( const void * ) & rtcapiStoredFloats [ 1 ] , (
int8_T ) 1 , ( uint8_T ) 0 } , { ( const void * ) & rtcapiStoredFloats [ 2 ]
, ( const void * ) & rtcapiStoredFloats [ 0 ] , ( int8_T ) 2 , ( uint8_T ) 0
} , { ( const void * ) & rtcapiStoredFloats [ 0 ] , ( const void * ) &
rtcapiStoredFloats [ 0 ] , ( int8_T ) 0 , ( uint8_T ) 0 } } ; static
rtwCAPI_ModelMappingStaticInfo mmiStatic = { { rtBlockSignals , 37 ,
rtRootInputs , 0 , rtRootOutputs , 0 } , { rtBlockParameters , 48 ,
rtModelParameters , 18 } , { ( NULL ) , 0 } , { rtDataTypeMap ,
rtDimensionMap , rtFixPtMap , rtElementMap , rtSampleTimeMap ,
rtDimensionArray } , "float" , { 791975065U , 2127965696U , 1703960231U ,
721157778U } , ( NULL ) , 0 , ( boolean_T ) 0 , rt_LoggedStateIdxList } ;
const rtwCAPI_ModelMappingStaticInfo *
openManipulatorTrajectoryPlanning_GetCAPIStaticMap ( void ) { return &
mmiStatic ; }
#ifndef HOST_CAPI_BUILD
void openManipulatorTrajectoryPlanning_InitializeDataMapInfo ( void ) {
rtwCAPI_SetVersion ( ( * rt_dataMapInfoPtr ) . mmi , 1 ) ;
rtwCAPI_SetStaticMap ( ( * rt_dataMapInfoPtr ) . mmi , & mmiStatic ) ;
rtwCAPI_SetLoggingStaticMap ( ( * rt_dataMapInfoPtr ) . mmi , ( NULL ) ) ;
rtwCAPI_SetDataAddressMap ( ( * rt_dataMapInfoPtr ) . mmi , rtDataAddrMap ) ;
rtwCAPI_SetVarDimsAddressMap ( ( * rt_dataMapInfoPtr ) . mmi ,
rtVarDimsAddrMap ) ; rtwCAPI_SetInstanceLoggingInfo ( ( * rt_dataMapInfoPtr )
. mmi , ( NULL ) ) ; rtwCAPI_SetChildMMIArray ( ( * rt_dataMapInfoPtr ) . mmi
, ( NULL ) ) ; rtwCAPI_SetChildMMIArrayLen ( ( * rt_dataMapInfoPtr ) . mmi ,
0 ) ; }
#else
#ifdef __cplusplus
extern "C" {
#endif
void openManipulatorTrajectoryPlanning_host_InitializeDataMapInfo (
openManipulatorTrajectoryPlanning_host_DataMapInfo_T * dataMap , const char *
path ) { rtwCAPI_SetVersion ( dataMap -> mmi , 1 ) ; rtwCAPI_SetStaticMap (
dataMap -> mmi , & mmiStatic ) ; rtwCAPI_SetDataAddressMap ( dataMap -> mmi ,
( NULL ) ) ; rtwCAPI_SetVarDimsAddressMap ( dataMap -> mmi , ( NULL ) ) ;
rtwCAPI_SetPath ( dataMap -> mmi , path ) ; rtwCAPI_SetFullPath ( dataMap ->
mmi , ( NULL ) ) ; rtwCAPI_SetChildMMIArray ( dataMap -> mmi , ( NULL ) ) ;
rtwCAPI_SetChildMMIArrayLen ( dataMap -> mmi , 0 ) ; }
#ifdef __cplusplus
}
#endif
#endif
